✨ feat(fanuc): 优化 J519 实时下发与飞拍起停整形

- 改为高优先级 J519 接收线程与复用缓冲区发送链路
- 增加稠密执行前的 J519 就绪重试与状态诊断
- 修正程序状态响应字段顺序与 EnableRobot 默认参数
- 为飞拍轨迹补充平滑起停时间轴与首尾整形验证
- 补充真实运行配置、报警窗口与边界对比测试
- 同步更新限值文档、分析脚本与 .NET 8 SDK 固定配置

tests/Flyshot.Core.Tests/FanucProtocolTests.cs

@@ -30,7 +30,7 @@ public sealed class FanucProtocolTests
         var stopResponse = FanucCommandProtocol.ParseResultResponse(
             Convert.FromHexString("646f7a0000001200002103000000007a6f64"));
         var statusResponse = FanucCommandProtocol.ParseProgramStatusResponse(
-            Convert.FromHexString("646f7a000000160000200300000000000000017a6f64"));
+            Convert.FromHexString("646f7a000000160000200300000001000000007a6f64"));
 
         Assert.Equal(FanucCommandMessageIds.StopProgram, stopResponse.MessageId);
         Assert.True(stopResponse.IsSuccess);
@@ -183,6 +183,24 @@ public sealed class FanucProtocolTests
         Assert.Equal(0.0f, BinaryPrimitives.ReadSingleBigEndian(packet.AsSpan(0x38, 4)));
     }
 
+    /// <summary>
+    /// 验证实时发送路径可以复用命令对象，并用机器人状态包序号覆盖出包序号。
+    /// </summary>
+    [Fact]
+    public void J519Protocol_PacksCommandWithOverrideSequenceIntoReusableBuffer()
+    {
+        var command = new FanucJ519Command(
+            sequence: 2,
+            targetJoints: [1.0, 2.0, 3.0, 4.0, 5.0, 6.0]);
+        var packet = new byte[FanucJ519Protocol.CommandPacketLength];
+
+        FanucJ519Protocol.PackCommandPacket(command, sequence: 456, packet);
+
+        Assert.Equal(456u, BinaryPrimitives.ReadUInt32BigEndian(packet.AsSpan(0x08, 4)));
+        Assert.Equal(1.0f, BinaryPrimitives.ReadSingleBigEndian(packet.AsSpan(0x1c, 4)));
+        Assert.Equal(6.0f, BinaryPrimitives.ReadSingleBigEndian(packet.AsSpan(0x30, 4)));
+    }
+
     /// <summary>
     /// 验证 UDP 60015 的 132 字节响应包字段可以被解析成状态位和关节反馈。
     /// </summary>